US7492268B2 - Human movement measurement system - Google Patents
Human movement measurement system Download PDFInfo
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- US7492268B2 US7492268B2 US11/935,578 US93557807A US7492268B2 US 7492268 B2 US7492268 B2 US 7492268B2 US 93557807 A US93557807 A US 93557807A US 7492268 B2 US7492268 B2 US 7492268B2
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- A—HUMAN NECESSITIES
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Abstract
Description
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- a means to create a single movement vector whose endpoints are defined by the locations of at least two transponders, wherein, the expansion and contraction of the vector's length is calculated, analyzed, and reported in essentially real-time;
- a means to create a single movement vector whose endpoints are defined by the locations of two transponders, wherein, a representative point along the vector length is referenced and its higher-order derivatives are computed by mathematical numerical processes, wherein the result is calculated, analyzed, and reported in essentially real-time; and,
- a means to correlate said vector's length and at least one other measure consisting of a higher-order derivative, to the reference movement trajectory, wherein the result is calculated, analyzed, and reported in essentially real-time.
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- a means for modulating an embedded luminescent display organized and oriented into a directional-aiding pattern, by varying its degree of intensity and color, or other physical characteristics, to provide a visual display stimulus. This sensory interface is excited at a rate, repetition, or pattern proportional to the pose error of the transponders' movement trajectory compared to the reference movement trajectory;
- a means to view said visual display stimulus with the aid of a mirror(s) or other reflective means;
- a means for the real-time projection of sound or speech commands through an audio device to provide warning, alarm, instructional, and motivational aid, and/or additional cueing upon encroachment of static and dynamic limit/boundary conditions defined by the reference movement trajectory;
- a means for real-time tactile feedback including, but not limited to, modulation of the rotational properties of a vibrator motor proportional to the pose error of the transponders' movement vector compared to the reference movement trajectory;
- a means for combining the excitation of said stimuli proportional to the pose error of the transponders' movement vector compared to the reference movement trajectory; and,
- a means to coordinate the real-time, periodic parametric update and modulation of the stimuli imparted by the sensory interfaces within the transponders from a processing unit by means of a wireless communication link.
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- a means is to provide a movement trajectory learning modality that allows the user to calibrate and create the desired endpoints, midpoints, and/or total reference movement trajectory through user programmer entry of an input device resident on the transponder;
- a means to process and save a movement trajectory using a computationally efficient Catmull-Rom spline algorithm or other similar path optimizing algorithms to create control points along key points of the movement trajectory that define the optimally smoothest path intersecting the control points;
- a means to provide database management by a processing unit via a wireless communication link or, alternatively, through user data entry of an input device resident on the interactive transponder; and,
- a means to access, edit, and store the program and/or databases to nonvolatile memory operably coupled to the principle transponders for the purpose of automating the creation, delivery, storage, and processing of movement trajectories. Customized user programs and databases would be downloaded from a central repository or relevant website in advance of the training session to the transponder from the user's home location via the Internet or other convenient locales having networked Internet access, and transported to the systems remote physical location, and uploaded into the system's memory, and executed as the application program.
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- a means to quickly and efficiently alter the location of the transponders using a fastening system designed to quickly attach and dispose various forms of transponder assemblies;
- a means to augment the physical properties, i.e., weight and length, of the principle transponder with adjunct electro-mechanical components that provide variations in biomechanical leverage for isotonic and isometric utilization; and,
- a means to allow the user to manually alter the geometry and pose of the receiver constellation unit to facilitate an optimal tracking location based upon collectively maximizing the ultrasonic source's energy received at the transducer interface.
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- a means to detect the same carrier wave cycle of ultrasonic energy using a software correction algorithm requiring multiple, consecutive TOF acquisitions as input for the digital over-sampling and averaging algorithm, the calculation of a higher-order numerical differentiation of the past and current TOF information as input for the predictive algorithm of higher-order Taylor series based derivatives used for the relative TOF correction, and a measurement of the intra-pulse time intervals of consecutive TOF acquisitions as input for the absolute TOF correction scheme that minimizes the range error based upon selective biasing of the TOFs;
- a means to utilize a dual matrix formulation of the trilateration algorithm, and a calculation strategy thereof, which decision is dependent upon the integrity of the system's communication link, synchronization condition, and the desired measurement accuracy; and,
- a means to coordinate the information transfer between transponders and the processor unit so that their contribution to the resultant movement vector calculation can be measured without intra-signal interference.
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- a. Authenticate user access and open user session from a local or remote database;
- b. Setup user training session, i.e., workload limitations, measurement criteria, and audio/visual/tactile stimuli;
- c. Select training program and configure its options;
- d. Deploy the transponders as instructed to predefined locations of users locomotion system to create at least one transponder movement vector;
- e. Calibrate the transponder movement vector to establish its reference pose;
- f. Create a movement trajectory using learn mode, if required;
- g. Initiate the start of session;
- h. Determine the instantaneous pose of transponder movement vector relative to its reference pose from a periodic temporal iteration of this step;
- i. Perform qualitative and quantitative statistical analysis of accumulated measured poses of the transponder movement vector relative to the pattern of instantaneous poses defined by the reference movement trajectory;
- j. Update the major transponders sensory interfaces to modulate said system parameters in a periodic temporal iteration of this step;
- k. End the session once program objectives have been obtained;
- l. Analyze the results by interacting with local and/or remote databases;
- m. Provide numerical, graphical, and/or animated information indicating desired performance measurements.
c≈34.6 m/s+0.5813 m/s(T c−25° C.) (1.1)
|A|=a 11 ·A 11 +a 21 ·A 21 +a 31 ·A 31 +a 41 ·A 41 (3.3)
ΔT 12 =T 2 −T 1 (4.1)
ΔT 13 =T 3 −T 1 (4.2)
ΔT 14 =T 4 −T 1 (4.3)
ΔT 15 =T 5 −T 1 (4.4)
S(x i ,y i ,z i)for 5≧i≧1=>fixed receiver locations
S(x 0,y0,z0)≡S(u,v,w)=>unknown transponder location
(x 1 −u)2+(y 1 −v)2+(z 1 −w)2 =D 1 2 (5.1)
(x 2 −u)2+(y 2 −v)2+(z 2 −w)2 =D 2 2 (5.2)
(x 3 −u)2+(y 3 −v)2+(z 3 −w)2 =D 3 2 (5.3)
(x 4 −u)2+(y 4 −v)2+(z 4 −w)2 =D 4 2 (5.4)
(x 5 −u)2+(y 5 −v)2+(z 5 −w)2 =D 5 2 (5.5)
D i =D 1 +cΔT 11 for 5≧i≧2 (6.1)
(x 2 −u)2+(y 2 −v)2+(z 2 −w)2=(D 1 +cΔT 12)2 (6.2)
(x 3 −u)2+(y 3 −v)2+(z 3 −w)2=(D 1 +cΔT 13)2 (6.3)
(x 4 −u)2+(y 4 −v)2+(z 4 −w)2=(D 1 +cΔT 14)2 (6.4)
(x 5 −u)2+(y 5 −v)2+(z 5 −w)2=(D 1 +cΔT 15)2 (6.5)
where R i 2 =x i 2 +y i 2 +z i 2 for 5≧i≧1 (7.2)
D 1 =cT 01 , ΔT 01=>time of flight (TOF) from S(u,v,w,) to S(x 1 ,y i ,z 1) (8.1)
|A 1 |=b 1 ·A 11 +b 2 ·A 21 +b 3 ·A 31 +b 4 ·A 41 (10.5)
|A 2 |=b 1 ·A 12 +b 2 ·A 22 +b 3 ·A 32 +b 4 ·A 42 (10.6)
|A 3 |=b 1 ·A 13 +b 2 ·A 23 +b 3 ·A 33 +b 4 ·A 43 (10.7)
|A 4 |=b 1 ·A 14 +b 2 ·A 24 +b 3 ·A 34 +b 4 ·A 44 (10.8)
R z(θ)′1 T 123 ′ =R x(θ)R y(θ)T 123 (11.1)
∵x 1 =y 1 =z 1=0^y 2=0^y 3 =z 3=0 for initial orientation (11.4)
cos θ2−1≡cos θ2 from previous iteration (12.4)
φ=a sin(A x/1 g) (13.1)
φ=a sin(A y/1 g) (13.2)
{circumflex over (x)} k − =x k−1+0.5(x k−1 −x k−3)+0.5(x k−1−2x k−2 +x k−3) (15.1)
P k − =P k−1 +Q k (15.2)
{circumflex over (x)} k ={circumflex over (x)} k − +K k(z k −{circumflex over (x)} k −) (15.4)
P k=(1−K k)P k − (15.5)
Q k ≡|K q[(z k−1 −z k−3)(z k−1−2z k−2 +z i−3)sin(z k−1 −z k−3)]| (16.1)
Rk≡0.005 (16.2)
Gk≡[Pk−1PkPk+1Pk+2] (17.3)
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WO2006014810A9 (en) | 2006-03-30 |
US7952483B2 (en) | 2011-05-31 |
US20090149257A1 (en) | 2009-06-11 |
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US20110201428A1 (en) | 2011-08-18 |
US9427659B2 (en) | 2016-08-30 |
WO2006014810A3 (en) | 2006-12-21 |
US20130303286A1 (en) | 2013-11-14 |
EP1779344A2 (en) | 2007-05-02 |
US20120178534A1 (en) | 2012-07-12 |
US20080061949A1 (en) | 2008-03-13 |
US7292151B2 (en) | 2007-11-06 |
EP1779344A4 (en) | 2009-08-19 |
US20060022833A1 (en) | 2006-02-02 |
US8427325B2 (en) | 2013-04-23 |
WO2006014810A2 (en) | 2006-02-09 |
CA2578653A1 (en) | 2006-02-09 |
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